[plnyyanks]

How accurate is this combination? Remember that gyros generally give better rate information (as in, a better angular rate while your robot is in motion) and accelerometers give better absolute angles while stationary.

A couple days ago, I set up both a gyro and an accelerometer with LabVIEW front panel graphs and just watched the readings - you should do this too (or your C++/Java debug method of choice). You'll learn something: gyros drift over time. Sometimes it's a really big amount, and sometimes it's only a little. But it's always there. You'll have to find a good way to compensate for it in software and get a really precise angle out of it. I know a few ways to do it, but I'm not going to say. You'll learn it better if you figure it out for yourself.